So correction to my above post - I was on the freeway today and my CB550 sits around ~5,200 at 70 mph, I'm closer to 6,000 rpm at 80 mph....Just thought I'd clarify that in case other folks read this in the future.
Either way, point stays the same - the bikes are just fine (and happy) riding along at those RPMs, and 6K for a 350 sounds about right.